This change introduces MjVFS, an explicit object to mirror the C mjVFS. This is meant to replace the MjSpec.assets dict. This latter while convenient guides users towards harmful authoring patterns with respect to data duplication and spec attachment workflows. Making VFS management explicit should encourage better memory usage and allow us to make better compile time optimizations.
From this change, `spec.assets` is deprecated. However we will temporarily support backwards compatibility due to the wide spread usage. An error will be thrown if calling code tries to use a spec that uses both the assets dict and the new MjVfs.
PiperOrigin-RevId: 908772050
Change-Id: I77c6d0369307fc300c954768fed17401261e18da
The flex interpolation stiffness matrix within the implicit/implicitfast solvers is now built and factorized in a banded format instead of a dense one. This involves:
- Calculating the bandwidth based on the sparsity of the mass/damping matrix and the connectivity within flex cells.
- Allocating and populating a banded matrix `H`.
- Using `mju_cholFactorBand` and `mju_cholSolveBand` for factorization and solving.
This change improves performance for flexes with many DOFs but local coupling.
PiperOrigin-RevId: 901297952
Change-Id: I3efe06353d1903ea65ab30dc49685cede228bb68
This change introduces a `flex_cellcount` field to `mjModel` to specify the number of cells in each dimension for interpolated flexes. The stiffness computation, passive force calculation, and Jacobian derivatives are updated to operate on a per-cell basis, significantly improving performance by localizing computations to the nodes within each cell.
PiperOrigin-RevId: 901216393
Change-Id: Ic23132e609de11e71bb7fef8d1f139daad2ec264
If Renderer.__init__ raises before the rendering contexts are assigned
(e.g. width > offwidth raises ValueError, or MjrContext construction
fails), __del__ calls close() which accesses self._gl_context and
self._mjr_context unconditionally, raising AttributeError. This masks
the real __init__ failure with a noisy "Exception ignored in..." message
during garbage collection.
Pre-initialize both attributes to None at the top of __init__ so that
close() is safe on a partially-constructed instance. Add a regression
test that captures sys.unraisablehook and asserts that __del__ raises
nothing when __init__ fails via the width > offwidth path.
Fixes#3213.
This change introduces `nflexstiffness` and `flex_stiffnessadr` to allow flex stiffness matrices to have sizes other than the fixed 21 per element. Higher-order flexes can now store larger stiffness matrices based on their number of nodes. The `flex_stiffnessadr` array provides the starting index for each flex's stiffness data within the `flex_stiffness` array.
PiperOrigin-RevId: 899632263
Change-Id: Ie49182c46c3777acf0c6b492345edfcf62fb5e44
This change disallows calling `mjs_delete` on an mjSpec that has been attached to another mjSpec via `mjs_attach`. Attempting to delete an element from an attached spec will now result in an error. The Python bindings for `mjSpec.delete` have been updated to raise a ValueError when this occurs.
PiperOrigin-RevId: 897266695
Change-Id: Ic0670125a3028191ec50eca890f02b5910ec8b03
- Remove `lugre:viscous`, should now be added directly to actuator `damping`. Trying to do this for the user was incompatible with default inheritance (compounding instead of overriding).
- Move voltage limiting from the `saturation` to the `controller` attribute.
- Fix indexing issues in default inheritance.
PiperOrigin-RevId: 897087642
Change-Id: I5388c2633e15c7e223992e7eb5d6a28db75a6438
Add a new mjpEncoder plugin type mirroring the existing mjpDecoder pattern.
Encoders serialize an mjSpec + mjModel to an mjResource for a given format.
New API functions:
- mjp_registerEncoder: globally register an encoder
- mjp_defaultEncoder: zero-initialize an encoder struct
- mjp_findEncoder: look up an encoder by filename extension or content type
The mjfEncode callback takes (mjSpec*, mjModel*, mjVFS*, mjResource*) and
returns 0 on success. Writing to mjResource keeps symmetry with the decoder
reading from mjResource and leaves the door open for writable resource providers.
PiperOrigin-RevId: 889187898
Change-Id: I180771b2255b91dea188ac5e2cdc3a8f0fb85364
This test verifies that geom.plugin and mesh.plugin are accessible and can be assigned a plugin instance.
PiperOrigin-RevId: 888576511
Change-Id: Id17885de5fdf1f4543ac195a8b04bb01139d1bfa
The `vertcollide` attribute in flex and flexcomp contact specifications has been removed since the next mjWarp release will support flex collisions. This attribute was previously used to enable vertex-based collisions by adding sphere geoms at flex vertices. The functionality associated with this attribute has been deprecated and removed from the XML parser, documentation, and internal data structures. Affected example XML files have also been updated.
PiperOrigin-RevId: 885595503
Change-Id: I6a78975f1bc540c09ea8b5306ff3be0962b7ab24
This CL replaces the header-parsing autowrap system for generating
MuJoCo C# bindings (MjBindings.cs) with a new generator that uses
the mujoco.introspect module. The new generator reads pre-parsed
API data from introspect's enums, functions, and structs modules
instead of parsing C headers directly.
Changes:
- New: generate_cs_bindings.py in third_party/py/mujoco/codegen/
- Updated: genrule in unity/mujoco/BUILD to use codegen
- Updated: MjBindings.cs regenerated from codegen
- Removed: entire autowrap/ directory (9 files)
- Removed: transitional validate_codegen.py
The validate test continues to verify that the genrule output
matches the checked-in MjBindings.cs.
PiperOrigin-RevId: 885206129
Change-Id: Ib9fb883a2242dd2c039033eadee7a4a6ac91ed55
mjrRect is a common type that will be re-used across different
rendering APIs, not just mjr_ APIs.
PiperOrigin-RevId: 882620060
Change-Id: I7f77ac9298c52c454d94c46379ff5270fd833f26
The pybind for recompile was not releasing the GIL when it called mj_recompile, this can caused deadlocks with the
asset loading threads. For example if a resource provider was trying to call Python.
To resolve this the GIL is release just for the mj_recompile.
Addresses: https://github.com/google-deepmind/mujoco/issues/3118
The next release will include breaking changes, so this bumps the major
version to reflect that.
PiperOrigin-RevId: 881351265
Change-Id: I970c68a0211651c07fcb8109ebd0b138196cf50a
Hiding the dock icon after the viewer window closes triggers an
asynchronous screen/dock reconfiguration via SkyLight. Without
draining the main run loop, the resulting NSScreen invalidation
notification is dispatched to a GCD worker thread, which hits
NSScreen's main-thread assertion and crashes the process.
Drain the main NSRunLoop briefly after setActivationPolicy: so the
reconfiguration is processed on the main thread.
WaitForAtomicNoGil spins until the render loop consumes a pending
set_texts/set_figures/set_images request (atomic == expected). If the
user closes the viewer window after a request is submitted but before
the render loop consumes it, the render loop exits and the atomic is
never updated. The calling thread spins forever, preventing the
process from terminating.
Check exitrequest inside the spin loop so the wait bails out once the
viewer is shutting down.
Yuval Tassa